#ifndef _INCL_CPILOT
#define _INCL_CPILOT

#include <mrpt/poses/CPose3D.h>
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>

using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::math;
using namespace mrpt::utils;
using namespace std;

class CPilot
{
      public :
      CPilot();
      ~CPilot();

      void piloteWpt(CPose3D pose_m,TPoint3D v_m);
      
      void piloteHuit(CObservation2DRangeScan scan,CPose3D pose_m,TPoint3D v_m);
      
      void generateHuitWpts();
        
       double getPhiC();
       double getThetaC();
       double getPsiC();
       
       TPoint3D getCurrentWpt();
       
        private : 
        
        double phi_c;
        double theta_c;
        double psi_c;
        int cur_wpt ;
        vector<TPoint3D> waypts;
        
        int etape;
		int tour;
        


};

#endif